System with cable-controlled parallel robot with double cables

Description

DOMAINE TECHNIQUE DE L'INVENTION

[0001] The invention relates, in general, to the technical field of parallel cable robots.

[0002] The invention relates more specifically to a mobile platform for a cable-driven parallel robot and a mobile cable-driven parallel robot comprising such a mobile platform. ÉTAT DE LA TECHNIQUE ANTÉRIEURE

[0003] A "parallel cable robot" or "cable robot" is a robot with parallel kinematics, in which a platform is positioned and moved in a given space by means of cables acting on said platform. Each cable extends between an anchor point on this platform and for example a winch fixed to a fixed structure, the winch constituting an anchor. The capacity for significant variation in the cable length between the anchor point of the platform and the anchor to the fixed structure makes it possible to obtain a particularly large working volume of the mobile platform with a lightweight structure that is easily set up by installing the anchors for example on the ceiling of a workshop or on overhead beams.

[0004] Cable-driven parallel robotics allows for work in large volumes. It is particularly useful, for example, in the field of inspection of large-sized products, for example in aeronautics, naval engineering, transportation in general, construction, wind turbines, etc.

[0005] The stability of such a platform in a given position is generally ensured by its static equilibrium, which equilibrium is ensured by the tension of the cables that act to oppose the external forces to which the platform is subjected. Thus, to ensure the stability of any position and orientation of the platform in space, it is known that a minimum of seven or eight cables is necessary to move the mobile platform along six degrees of freedom. The parallel cable robot works with several kinematic chains or closed loops.

[0006] In general, the number of cables supporting the platform is equal to eight: this allows six degrees of freedom to be given to the robot, and thus to have satisfactory precision in controlling the robot in its task. Indeed, when the parallel cable robot has eight independent cables, this allows the three translational degrees of freedom and the three rotational degrees of freedom of the mobile platform to be controlled in a large space. Such a cable robot is for example disclosed by document US 2003 / 168647 A1. It is also known to use a number of cables that can be less than eight, for example equal to seven. It should be noted that for reasons of symmetry of the robot architecture, the presence of eight cables is preferred. Furthermore, this allows for a larger workspace although the risk of collisions between cables increases with the number of cables.However, in some cases it is sometimes desirable to use more than eight cables. When the number of cables is greater than eight, there can be cable redundancy which increases the platform's rotation capability.

[0007] However, the search for speed of execution of parallel cable robots and stability leads to generally complex and bulky mobile platform structures, impacting in particular the mass of the mobile platform to be moved.

[0008] In the field of automatic inspection of a large part or product, for example several tens of meters long, there is a need for solutions that are simple, easy to deploy, inexpensive, stable, and secure. Drones can cover such volumes, but they cannot guarantee the same repeatability as a cable-driven parallel robot, and the risk of falling limits their deployment. Drones therefore pose problems of safety in particular, but also of image stability, energy consumption, noise, and repeatability. Large gantries / Cartesian structures are also used for the inspection of large parts. However, gantries are expensive and difficult to move. Furthermore, they allow the inspection of parts with a more limited volume compared to those allowed by a cable-driven parallel robot.

[0009] It is understood that there is currently no system capable of ensuring such an inspection at the cost and with the repeatability achievable by the parallel cable robot.

[0010] Regarding the safety of a cable-driven parallel robot, some solutions have been proposed to prevent the platform from falling. For example, the use of a central cable is known, as described in document US9964836. Such an approach prevents the platform from falling to the ground when a cable breaks, and is therefore sufficient when the need is limited to the protection of people working below the system. However, in the case of inspection, the platform carried by the cables can come considerably closer to the part to be inspected and, if a cable were to break, the safety system based on a central cable would in no way prevent the oscillations of the platform, which could therefore collide with the part. EXPOSE DE L'INVENTION

[0011] The invention aims to remedy all or part of the drawbacks of the state of the art by proposing in particular a solution making it possible to obtain a simple parallel cable robot, easy to deploy and having improved stability to carry out inspections in complete safety, in particular with regard to unwanted oscillations during an inspection phase in operational mode.

[0012] To do this, the invention proposes an installation comprising a parallel cable robot comprising: a mobile platform to be suspended by cables, each of the cables having a cable strand configured to be tensioned between a first strand end connected to the mobile platform, and a second strand end connected to a structure fixed in space; winding assemblies, each winding assembly being connected to a pair of associated cables among the cables and configured to synchronously wind the pair of associated cables; the installation being configured so that when the mobile platform is in a reference orientation relative to the vertical, the first ends of the cable strands of the same pair of cables are vertically offset from each other and are horizontally offset from each other.

[0013] By virtue of each winding assembly being linked to a pair of associated cables among the cables and configured to synchronously wind the pair of associated cables, a configuration is obtained in which each cable is doubled to form a pair of cables. In such a configuration, the cables of the same pair are wound, or unwound depending on the operating sequence, synchronously by the same winding assembly. Such a configuration provides maximum stability to the platform when a cable breaks. Furthermore, the vertical and horizontal offsets of the cable ends on the platform make it possible to limit parasitic rotations, the moments exerted on the platform but also the oscillations of the platform.

[0014] According to the invention, each winding assembly is connected to only one pair of associated cables among the cables and configured to synchronously wind the pair of associated cables. In such a configuration, each winding assembly is connected to the platform by only two cables. Such a configuration is sufficient to ensure the stability of the platform while providing an architecture that is simple to implement and control.

[0015] According to one embodiment, the first end of each cable strand is fixed to the platform at an anchoring point. In this way, the first end of the strand is anchored to the platform. Such a configuration makes it possible to obtain a structure that is both simple and stable and which does not weigh down the platform. Alternatively, the first end of each cable strand can be configured to be tensioned on a return member between the associated cable strand and an anchoring point offset on the platform. In this case, the cable arrives on the platform at a return member, for example a return pulley, and is secured at a more distant anchoring point.

[0016] According to one embodiment, the second end of each cable strand is configured to be stretched over a return member between the associated cable strand and the associated winding assembly. This configuration makes it possible to relocate the anchoring or fixing of the cable to a more practical area, in particular near the ground, so as to improve the installation of the platform when it is removable or to facilitate the installation of the parallel cable robot and handling by operators. Alternatively, the second end of each cable strand is fixed to the fixed structure at an anchoring point.

[0017] According to one embodiment, the vertical offset and the horizontal offset of the first ends of the cable strands of a given cable pair are equal.

[0018] According to one embodiment, the platform has a suspension frame having a template forming a right prism with a polygonal base, the base being arranged horizontally in a reference orientation relative to the vertical.

[0019] According to one embodiment, the platform has a suspension frame having a parallelepiped template, preferably a rectangular parallelepiped, more preferably a cubic one.

[0020] According to one embodiment, the first ends of the cable strands of a given pair of cables are arranged on the platform substantially at the ends of a diagonal of a lateral face of the suspension frame. Such a configuration further improves the stability of the platform. In such a configuration, the prismatic template delimits lateral faces of the platform. Preferably, the parallel cable robot comprises as many pairs of cables as there are lateral faces of the platform. A rectangular or cubic parallelepiped template corresponding to particular configurations of right prisms with square bases.When the first ends of the cable strands of each given pair of cables are arranged on the platform substantially at the ends of a diagonal of an associated lateral face of the suspension frame, a configuration is obtained in which each lateral face of the prismatic template is suspended from a given pair of cables guaranteeing it maximum stability, all the more so for a cubic shape in which the first two ends of the cable strands of each given pair of cables are located in a vertical plane and located on a straight line oriented at 45 degrees relative to a horizontal plane in the reference orientation relative to the vertical.

[0021] According to the invention, each winding assembly comprises two drums movable in rotation around a common rotation shaft, each of the drums being secured to one of the cables among the cables of an associated pair of cables, the two drums preferably being distant from each other by an average distance substantially equal to the distance separating the first ends of the cable strands of the associated pair of cables. In this way, a substantially constant spacing of the cables of the same pair is obtained to limit oscillations.

[0022] According to one embodiment, the number of pairs of cables is greater than or equal to 3, preferably greater than or equal to 4 and / or less than or equal to 10, preferably less than or equal to 8, more preferably less than or equal to 6. In particular, four pairs of cables represents a good compromise between the desired stability and the simplicity of the structure.

[0023] According to the invention, the installation further comprises a fixed structure from which the platform is suspended.

[0024] The fixed structure comprises a plurality of suspension structures, each of the suspension structures being configured to comprise a connection with each of the second ends of the cable strands of a given pair of cables, each of the connections preferably comprising a cable return member for each of the cables of the given pair of cables, the second end of each cable strand of the given pair of cables being configured to be tensioned on the associated return member, between the associated cable strand and the associated winding assembly. In this configuration, each suspension structure forms a localized suspension zone for a given pair of cables. In other words, the two cable strands of a given pair of cables are associated with a single suspension structure, different from the others and forming a dedicated suspension zone.Each of the suspension structures preferably comprises only two links, the suspension structure interconnecting the two links.

[0025] According to the invention, the distance between the connections of the second ends of the cable strands of a given pair of cables are spaced from each other by a distance equal to the distance separating the first ends of the cable strands of the associated pair of cables.

[0026] In this way, in a suspended position of the mobile platform, the cable strands of a given pair of cables are parallel. Each of the first and second ends of the cable strands of the same pair of cables are arranged so as to form an associated parallelogram. In such a configuration, the first and second ends of the cable strands of the same pair of cables each form one of the angles of the associated parallelogram and two of the parallel sides being carried by the associated cable strands. Only the variation in length of said cable strands varying concomitantly for the two cable strands of the same pair makes it possible to control the movement of the platform. Such an arrangement of the pairs of cables in a parallelogram makes it possible to further improve the stability of the platform during the inspection phases. The parallelograms thus make it possible to constrain the rotations of the mobile platform.

[0027] According to one embodiment, in a suspended position of the mobile platform, each cable of the parallel cable robot comprises a secondary cable strand configured to be tensioned between the second end of the associated cable strand and a third end of the secondary strand linked to the fixed structure in space, the secondary cable strands of a given pair of cables preferably being substantially parallel.

[0028] According to one embodiment, in a suspended position of the mobile platform, the second ends of the cable strands of the given cable pair are vertically offset from each other and are horizontally offset from each other, the vertical offset and the horizontal offset of the second ends of the cable strands of a given cable pair preferably being equal. When the vertical offset and the horizontal offset of the second ends of the cable strands of a given cable pair are equal, a configuration is obtained in which the two ends are located in the same vertical plane and located on a straight line oriented at 45 degrees relative to a horizontal plane.

[0029] According to one embodiment, for cable strands of a given pair of cables, the vertical offset of the first ends is equal to the vertical offset of the second ends and the horizontal offset of the first ends is equal to the horizontal offset of the second ends. In this way, the arrangement on the mobile platform of the first ends of the cable strands of a given pair of cables respects the arrangement of the second ends of the cable strands of the same given pair of cables, in practice pulleys. It will be noted that in the particular configuration where the vertical and horizontal offsets of the first and second ends of the cable strands of a given pair of cables are all equal in absolute value, a configuration is obtained in which the parallelogram associated with the given pair of cables is located in a plane oriented at 45 degrees relative to a horizontal plane.Preferably each of the cable pairs has such a configuration in which the vertical and horizontal offsets of the first and second ends of the cable strands of one of the given cable pairs are equal, and therefore all of the parallelograms associated with the given cable pairs are each located in an associated working plane oriented at 45 degrees relative to a horizontal plane.

[0030] According to one embodiment, at least one of the second ends of the cable strands of a given pair of cables is connected to the fixed structure by at least one damping mechanism, preferably each of the second ends of the cable strands of the given pair of cables is connected to the fixed structure by at least one damping mechanism.

[0031] According to one embodiment, the winding assemblies are each located near the ground on which the fixed structure rests. In this way, maintenance of the winding assemblies is facilitated. The weight of the winding assemblies also helps to improve the stability of the fixed structure.

[0032] According to the invention, each winding assembly is driven by a single motor, to motorize a rotation shaft carrying the two drums, of the same given pair of cables. The rotation of the shaft carrying the drums in one direction or the other allows the winding or respectively the unwinding of the cables. The motor is preferably associated with a reducer, to form a geared motor. In other words, each of the motors or geared motors rotates two associated drums. Of course, even if the winding assembly is driven by a single motor, a second safety motor or geared motor may be provided, for example located at an opposite end of the main drive motor or geared motor relative to the rotation shaft, and which is actuated only in the event of failure of the main drive motor.With such a configuration, with one motor per pair of cables, it is possible to halve the number of motors compared to the number of cables given, grouped here in pairs. With a parallel robot configured with four pairs of cables, the four motors are used to control the translation movements of the mobile platform.

[0033] According to one embodiment, the fixed structure comprises removable masts configured to be erected vertically in the deployed position, and each supporting at least one of the suspension structures.

[0034] According to one embodiment, the parallel robot comprises at least one control assembly for controlling the winding assemblies of the mobile platform and controlling the movement of the mobile platform in an operational operating mode, the parallel robot further comprises means for detecting a break in at least one of the cables, linked to the control means, the control means being configured to control the winding assemblies in a degraded mode different from the operational operating mode when the detection means detect the break in at least one of the cables. Thanks to such a combination of characteristics, it is possible to reduce the risk of collision in the event of a cable breaking, and therefore to improve the safety of the inspected part.Indeed, thanks to the break detection means on the one hand, and to the control means on the other hand, making it possible to control the winding assemblies in a degraded mode different from the operational operating mode when the detection means detect the breakage of at least one of the cables, this prevents the platform from moving in an uncontrolled manner when a cable breaks.

[0035] According to one embodiment, the cables are electrically conductive, the cables each comprising at least one conductive component, in particular a metallic component, which extends in a longitudinal direction of the cable, for example a metallic coating and / or at least one metallic wire in a structure of the cable, the detection means being electrically connected to the conductive component.

[0036] Alternatively or in addition, it is also possible to envisage other means of detecting the cable break: by mechanical means, for example by detecting the torque of the winding assemblies, by imaging such as via one or more cameras, optical solutions provided for example with at least one reflective target, for example a mirror, carried by the cable with a laser source at a pulley or an anchor at one end of the associated cable strand, etc.

[0037] According to one embodiment, the means for detecting a break in a cable comprise at least one electrical circuit intended to circulate a current, for example a direct current, an alternating current or a current pulse, in the metallic component of each cable. Such a solution is particularly advantageous and simple to implement in the case where the cables each comprise at least one conductive component.

[0038] According to one embodiment, the conductive component of each of the cables has a first end connected to the detection means and a second end connected to the detection means, and forms a conductive loop between the first end and the second end, the conductive loop extending in the longitudinal direction of the cable.

[0039] According to one embodiment, the control means are operational to, in degraded mode, control the winding assemblies according to: of a known position data of the part; of a position data of the mobile platform before the break; of a data identifying the broken cable among the cables.

[0040] According to one embodiment, the cables of an associated pair of cables are connected to each other generally transversely to their direction when they are tensioned, by return cables, preferably located in an area close to the first ends of the strands of the cables of the associated pair of cables. In addition to limiting oscillations in the event of a cable break, such a solution provided with return cables joining two cables of the same pair of cables makes it possible to retain the portion of the severed cable strand secured to the platform and prevents it from falling back under the effect of its own weight onto the inspected part.

[0041] According to one embodiment, the cables comprise an elastic core so as to keep two joint ends of a portion of cable that is at least partly broken connected together. An alternative or complementary solution also makes it possible to limit the risks when the cables break by providing them with an elastic core, such an elastic core not having particular tensile strength properties, but are configured to keep the two joint ends of the broken cable together but relaxed, after the break.

[0042] According to another aspect of the invention, it relates to a method for securing a parallel cable robot as described above, remarkable in that it comprises at least the following steps: a step of detecting a break in at least one cable by the cable break detection means; a step of switching the control assembly from an operational operating mode to a degraded operating mode when the detection means detect a break in a cable.

[0043] According to one embodiment, the degraded mode comprises a movement of the platform along a trajectory away from or avoiding a part to be inspected.

[0044] According to one embodiment, the degraded operating mode comprises: a step of calculating a first movement of the platform along a first trajectory configured to move the platform away from the part to be inspected; a step of calculating a second movement of the platform along a second trajectory intended to return the platform to a previous position detected by detection means, before rupture.

[0045] According to one embodiment, the step of moving the platform preferably comprises a step of applying to the platform a movement along an average trajectory of moving away or avoiding corresponding to the weighted sum of the first and second trajectories.

[0046] According to one embodiment, the securing method comprises: a step of calculating a separation distance, configured to calculate a separation distance between the platform and an inspected part; a step of calculating a movement of the platform along a trajectory oriented in an opposite direction so as to increase the distance separating the platform from the inspected part relative to the separation distance, for example for calculating the first movement of the platform along the first trajectory;

[0047] According to one embodiment, the step of moving the platform preferably comprises a step of applying the calculated movement to the platform.

[0048] According to one embodiment, the securing method comprises: a step of estimating an inclined position of the platform after the break; a step of calculating a separation distance, configured to calculate a separation distance between the platform and an inspected part in the estimated inclined position; and a step of calculating a movement of the platform along a trajectory oriented in an opposite direction so as to increase the separation distance separating the platform from the inspected part relative to the separation distance, for example for calculating the first movement of the platform along the first trajectory;

[0049] According to one embodiment, the step of moving the platform preferably comprises a step of applying the calculated movement to the platform. BRÈVE DESCRIPTION DES FIGURES

[0050] Other characteristics and advantages of the invention will emerge on reading the description which follows, with reference to the appended figures, which illustrate: [ Fig. 1 ]: a view of an installation comprising a parallel cable robot according to an embodiment of the invention; [ Fig. 2 ]: a detail of the figure 1 ; [ Fig. 3 ]: a top view of the installation according to the figure 1 ; [ Fig. 4 ]: an isometric view of the platform according to this embodiment; [ Fig. 5A ]: a side and perspective view of the figure 2 ; [ Fig. 5B ]: a schematic diagram of the figure 5A ; [ Fig. 6 ]: a top view of the figure 2 ; [ Fig. 7 ]: a front view of a suspension structure of the parallel cable robot according to this embodiment; [ Fig. 8 ]: an isometric view of a removable mast of the installation according to this embodiment; [ Fig. 9 ]: an isometric view of the suspension structure according to this embodiment; [ Fig. 10 ]: a view of a winding assembly of the parallel cable robot according to this embodiment; [ Fig. 11 ] : a diagram of an electrical circuit of a means for detecting a break in a cable to cause a direct current to flow in a given cable; [ Fig. 12 ] : a view of a broken cable in a configuration in which the cable has an elastic core connecting the two joined ends of the broken portion of the cable; [ Fig. 13 ]: a view of a comprising a parallel cable robot according to another embodiment of the invention; [ Fig. 14 ]: a view of a platform during an inspection of a part and in a position of rupture of one of the cables; [ Fig. 15 ]: a view of a platform during an inspection of a part and in a position of rupture of one of the cables.

[0051] For clarity, identical or similar elements are identified by identical reference signs throughout the figures.

[0052] In the description and claims, for the sake of clarity, the terminology longitudinal, transverse and vertical will be adopted without limitation with reference to the trihedron X, Y, Z indicated in the figures. DESCRIPTION DÉTAILLÉE D'UN MODE DE RÉALISATION

[0053] In reference to the figures 1 [Fig.1] à 10 [Fig.10] an installation is illustrated 100 including a parallel cable robot 1 equipped with a platform 10 mobile suspended by cables 20 suspension from a fixed structure 30.

[0054] The platform 10 is configured to carry at least one inspection tool (not shown), for example an inspection sensor, preferably connected to the platform 10 movable by a steerable mechanism. Thus the inspection tool can be oriented towards a desired area of ​​the inspected part depending on the position of the platform 10 mobile. Such a configuration allows use of the platform 10 in the context of the inspection of large parts or products such as aircraft, wind turbine blades or ship hulls. Thanks to such non-destructive testing operations, it is possible to characterize the state of integrity of inspected structures or materials, without degrading them, either during production, during use, or as part of maintenance procedures. The parallel cable robot 1according to the invention is particularly suitable for such operations of inspection and determination of the material health of large structures.

[0055] The platform 10 has a frame 12 suspension with a generally cubic template, . Such a frame 12 is composed of a plurality of crosspieces, each of the crosspieces preferably being tubular to ensure good rigidity at the same time as reduced weight to the frame 12 and be able to carry inspection tools. The platform template 10 corresponds generally to the shape of a virtual outer envelope of the platform corresponding to its size. In this embodiment, the number of crosspieces is relatively reduced, the platform 10 comprising four horizontal crosspieces delimiting a bottom of the platform 10,square in this embodiment, four other horizontal crosspieces which overlap vertically with the bottom crosspieces in a parallel manner to delimit a frame, also square, and four vertical crosspieces, each of them being placed at the junction of two crosspieces of each horizontal level, namely of the bottom and of the frame. Of course the shapes of the frame 12 may change but such a configuration offers a good compromise between stability, structural strength and lightness. The platform 10 forms a nacelle allowing the necessary inspection equipment to be housed there.

[0056] The fixed structure 30 is here composed of a plurality of masts 35 erected generally vertically, spaced regularly around a work space inside which the platform 10 can move. The installation 100 here has four masts 35which each have the particularity of being removable. The feet of the masts 35 are each connected to a base 37 weighted with a mass 39 sufficient associated to guarantee the stability and positioning of the mast 35 on the floor S on which it rests.

[0057] In particular each of the masts 35 has a lower portion 35A and a higher portion 35B aligned vertically and assembled together by assembly means 36. The means of assembly 36 are removable to allow the mast to be dismantled 35 and allow a lower end of the upper portion to be held fixedly 35B with an upper end of the lower portion 35A. The mast 35, including the lower and upper portions 35A, 35B, has a parallelepiped section, in particular square, the assembly means 36being positioned on at least two opposite vertical faces of the mast 35. The means of assembly 36 have a lever closure located on one 35A of the two connected pieces configured to come together with an opposite hook attached to the other 35B of the two parts to be connected. Closing the lever in engagement with the hook allows the two parts to be clamped together with less effort.

[0058] Each base 37 rests on four legs 38 height adjustable so that the height of each leg can be adjusted 38, and therefore the horizontality of the base 37, even if the ground is uneven, that is to say, it is not perfectly horizontal. This adjustment also ensures the mast is perfectly vertical 35. The mast 35 is connected here to its base 37 in the same way as the connection between the lower and upper portions 35A, 35B. This connection is also removable. Each of the bases 37 has a base 37A vertically aligned and assembled with a lower end of the lower portion 35A by means of assembly 36 similar, also comprising lever closures placed astride the connection and opposite each other.

[0059] Despite the ballast 39 placed resting on the base 37, the rigidity of the mast is guaranteed by reinforcement cables 35C between an upper end of the mast 35, in particular an upper end of the upper portion 35B from the mast 35 and the base 37. The masts 35 are positioned around the workspace within which the platform 10 is moved, each mast 35 separating a front part of the mast 35,oriented frontally in relation to this workspace, and a rear part of the mast 35, opposite the front part and located behind the mast 35. The ballast 39 is placed at the rear of each mast 35, and the anchor points of the reinforcement cables 35C at the base 37 associated also being located at the rear of the mast 35 associated This configuration allows better recovery of the forces applied by the platform 10 mobile suspended on the mast 35 partner.

[0060] A suspension structure 31 is placed at the level of an upper end of each of these masts 35, that is to say also in the vicinity of an upper end of the upper portion 35B from the mast 35. The platform 10 mobile parallel cable robot 1 is suspended by cables 20, each of the cables 20 presenting a strand21 of cable stretched between a first end 211 of strand 21 linked to the platform 10 mobile, and a second end 212 of strand 21 linked to a fixed structure 30 in space, particularly in this configuration, at the level of the suspension structure 31. Suspension structures 31 are configured to each have a link 32 with each of the second ends 212 strands 21 of cables 20 of the same pair 20' of cables 20 given. In the figures, each of these connections 32 are provided by a cable return device 20 for each of the cables 20 of the pair 20' of cables 20 given, the second end 212 of each strand 21 of cables 20 of the pair 20' of cables 20data being configured to be tensioned on the associated return member, between the strand 21 associated cable and winding assembly 40 partner.

[0061] The parallel cable robot 1 further includes winding assemblies 40, each winding set 40 being linked to at least one cable 20 associated among the cables 20 to wind or unwind the cable 20 associated. In particular, each winding assembly 40 is linked here only to one pair 20' of cables 20 associated among the cables 20 and configured to synchronously wind and unwind the pair 20' of cables 20 associated. Thanks to the fact that each winding assembly 40 is linked to a pair 20' of associated cables among the cables 20 and configured to synchronously wind the pair20' of associated cables, this results in a configuration in which each cable 20 is doubled to form a pair 20' of cables. In such a configuration, the cables of the same pair 20' are wound, or unwound according to the operating sequence, synchronously by the same winding assembly 40. Such a configuration provides optimized stability of the platform 10 when a cable breaks 20. In the embodiment illustrated in the figures, the number of pairs 20' of cables 20 is equal to 4.

[0062] Winding assemblies 40 are each located near the ground S on which the fixed structure rests 30. In particular, each winding assembly 40 is fixed on one of the bases 37.Such a configuration makes it easier to carry out maintenance by an operator who can work directly on the winding assemblies. 40 without having to rise vertically, making it possible to avoid using a lifting platform, for example. Such a configuration also improves the stability of the mast 35 since the mass of the winding assembly 40 participates, with the ballast 39 associated, to stabilize the base 37 partner on the ground S.

[0063] Each winding set 40 has two drums 41 mobiles rotating around the same shaft 42 of rotation. Each of the drums 41 being attached to one of the two cables 20 among the cables 20 of the same pair 20' of cables 20 associated.

[0064] Each winding set 40includes a motor to power the shaft 42 rotation, the motor preferably being associated with a reducer, to form an assembly commonly called a geared motor. In other words, each of the motors drives two drums in rotation 41 associated, includes a reducer to modify the speed ratio and / or the torque, this to drive the drums in rotation 41 winding associated with less effort.

[0065] Winding assemblies 40 may include, associated with each of the drums 41, a guide finger to guide a portion of the cable 20 associated intended to pass between the guide finger and the drum 41 associated. Such a guide finger makes it easier to wind the cable 20 associated around the drum 41.

[0066] The drums 41may have a smooth winding surface, i.e. without a guide groove. In addition to the fact that for drums 41 to be positioned at a certain distance from the platform 10 suspension, this allows the cables 20 to roll up naturally along the entire length of the drum 41. A spring system allows the cable to be positioned correctly 20 associated on the drum 41 by limiting the formation of local excess thicknesses due to poor winding and thus obtaining a homogeneous winding.

[0067] The drums 41 are configured to ensure cable winding 20 associated on several thicknesses to allow the parallel cable robot 1 to move over large distances without having to significantly increase the size of the drums 41. This constraint is greater if the winding assembly 40was to be carried by the platform 10 herself.

[0068] Each cable 20 extends between the platform 10 mobile where it is attached at a cable anchor point 20 associated, and the fixed structure 30 where it is connected to the winding assembly 40 associated, a portion of the cable of which is wound on the corresponding drum. A return member formed by a return pulley integral with the suspension structure 31 associated allows an angle return between on the one hand, the portion of cable located between the winding assembly 40 and the connection 32 and, on the other hand, the connection 32 and the platform 10 mobile.

[0069] In particular, each of the cables 20 presents a strand 21 of cable configured to be stretched between the first end 211 of the strand 21of the associated cable linked to the platform 10 mobile; and the second end 212 of strand 21 linked to the fixed structure 30 in space, particularly in this configuration, at the level of the suspension structure 31 through the connection 32.

[0070] Furthermore, each of the cables 20 has a secondary cable strand 22 configured to be stretched between substantially, the second end 212 of the strand 21 cable suspension 20 associated; and a third end 223 of the secondary strand 22 linked to the structure 30 fixed in space, particularly in this configuration, at the level of the winding assembly 40 partner ;

[0071] The first end 211 of each strand 21 of cables 20 is attached directly to the platform10 at an anchor point 11 while the second end 212 of each strand 21 of cables 20 is configured to be tensioned on a return member, between the strand 21 cable 20 associated and the winding assembly 40 partner.

[0072] The third end 223 of each secondary strand 22 is configured to be tensioned on one of the drums of the winding assembly 40 associated while the end of the secondary strand 22, opposite the third end 223 corresponding is configured to be tensioned on the return member linked to the suspension structure 31, between the secondary strand 22 cable 20 and the strand 21 of cables 20 partner.

[0073] The winding assembly 40 is located generally in line with the suspension structure31 for each of the masts 35. In particular, each of the drums 41 of a winding assembly 40 given is located directly above one of the two connecting means 32 from one of the return organs to the suspension structure 31 corresponding for a pair 20' of cables 20 given. In such a configuration the secondary strands extend generally vertically between the winding assembly 40 and the suspension structure 31 from the mast 35.

[0074] Preferably, as shown in the diagram of the figure 5B , at least one of the second ends 212 strands 21 of cables 20 of a pair 20' of cables 20 data is linked to the fixed structure 30, in particular to the suspension structure 31, by at least one damping mechanism 33.Of course, the parallel cable robot can be configured so that each of the second ends 212 strands 21 of cables 20 of the pair 20' of cables 20 data is linked to the fixed structure 30, especially to the suspension structure 31, by at least one damping mechanism 33. In other words, each of the bonds 32 between one of the second ends 212 of one of the strands 21 of cables 20 and one of the suspension structures 31 is preferably equipped with at least one damping mechanism 33. Its aim is to minimize the shock that a cable breaks 20 could cause on the system as a whole.

[0075] When the platform 10 mobile is in a reference orientation relative to the vertical Z, the first ends211 strands 21 of cables 20 of the same pair 20' of cables 20 are vertically offset d1" from each other and are offset horizontally d1' from each other (see the figures 5A [Fig.5A] et 5B [Fig.5B ]). The offset is understood to mean that the associated ends are distant from each other, the vertical offset corresponding to a non-zero distance separating projections of these ends on a vertical axis, and the horizontal offset corresponding to a non-zero distance separating vertical projections of these ends on a horizontal plane.

[0076] Similarly, in a suspended position from the platform 10 mobile where the platform 10 mobile is in a reference orientation relative to the vertical Z, the second ends of the strands 21 of cables 20 of the pair 20' of cables 20data are shifted vertically d2" from each other and are offset horizontally d2' from each other (see the figure 7 [Fig.7 ]).

[0077] This allows to counter the moments around the axes X, Y And Z exercised on the platform 10 and to limit parasitic rotations.

[0078] According to the invention, a configuration will be chosen in which, in the suspended position of the platform 10 mobile, the strands 21 of cables 20 of a pair 20' cable data 20 are parallel.

[0079] Such a configuration is obtained by configuring the parallel cable robot 1 and installation 100 so that the distance D2 between the links 32 second ends 212 strands 21 of cables 20 of a pair 20' cable data 20are distant from each other by a distance D2 equal to the distance D1 separating the first ends of the strands 21 of cables 20 of the pair 20' of cables 20 associated. In addition, we will also configure the parallel cable robot 1 and installation 100 so that: the vertical shift d2" second ends 212 strands 21 of cables 20 of a pair 20' cable data 20 is equal to the vertical offset d1" of the first ends of the strands 21 of cables 20 of the pair 20' of cables 20 associated; and the horizontal shift d2' second ends 212 strands 21 of cables 20 of a pair 20' cable data 20 is equal to the horizontal shift d1'of the first ends of the strands 21 of cables 20 of the pair 20' of cables 20 associated.

[0080] In such an embodiment, the two strands 21 of cables 20 of the same pair 20' are parallel are not aligned along the vertical axis Z. Whatever the end i considered given that the strands 21 of cables 20 of the same pair 20' are parallel, the transverse distance di' between the cables is equal to the vertical distance di" two strands of ends 21 of cables, where the square root of the sum of the squares of di' And di" is equal to Di. In this configuration, the projection of a pair 20' of strands 21 of cables 20 parallels on planes XZ And XY, or else YZ And XY according to the pair20' which is considered, forms a parallelogram always having the same dimensions on one of the two planes relative to the other. This makes it possible to counter the moments around the axes X, Y And Z exercised on the platform and to limit parasitic rotations.

[0081] In another embodiment not shown, the transverse distance di' may be greater than the vertical distance di", the sum of their squares always being equal to the square of Di ; in this embodiment, moments around the vertical Z axis will be countered more effectively.

[0082] In another embodiment not shown, the transverse distance di' is less than the vertical distance d", the sum of their squares always being equal to the square of Di ; in this embodiment, the moments around the axes X And Y will be countered more effectively.

[0083] A vertical shift di" equal to the horizontal offset di' of the first ends 211 and second ends 212 strands 21 of cables 20 of the same pair 20' of cables 20 data therefore form a good alternative to counter the moments around the three axes of space.

[0084] To ensure good stability of the platform 10 during its movements, the first extremities 211 strands 21 of cables 20 of a pair 20' of cables 20 data are arranged on the platform 10 at the ends of a diagonal of a lateral face of the parallelepiped shape of the frame 12 suspension. As illustrated in the figures, we thus obtain a configuration of a parallel cable robot 1 equipped with eight cables 20 divided into four pairs 20' of cables20, whose strands 21 of each pair 20' of cables 20 corresponding form a parallelogram whose angles are defined by their first and second ends 212, 212, each of the parallelograms being arranged “diagonally”. In this embodiment, this offset being equal in both horizontal and vertical directions with strands 21 of each pair 20' of cables 20 being parallel so that each parallelogram thus formed is inclined by 45°. The two links 32, formed here by the return pulleys, are integral with the suspension structure 31 corresponding for a pair 20' of cables 20 given by being aligned along a straight line inclined at 45° to the horizontal plane.

[0085] To improve the performance of the parallel cable robot 1, the installation is configured so that the strands 22of cables 20 secondaries of a pair 20' cable data 20 are substantially parallel. In such a configuration, the two drums 41 being preferably distant from each other by an average distance D40 substantially equal to the distance D2 separating the bonds 32 second ends 212 strands 21 of cables 20 of the pair 20' of cables 20 associated, also corresponding to the distance separating the two corresponding reference organs, the average distance D40 being also equal to the distance D1 separating the first ends 211 strands 21 of cables 20 of the pair 20' of cables 20 associated.

[0086] Note that the position of the third ends 223 secondary strands 22 linked to the fixed structure 30,especially on the drum 41 associated, and configured to be stretched on this drum 41, is likely to vary significantly around an average position. Each of the drums 41 has lateral flanges delimiting on either side axially along a winding axis A and a generally cylindrical winding portion of a predetermined length interposed between the two side plates (see the figure 8 ([Fig.8 ]) and the figure 10 ([Fig.10 ])). This variation is due to the winding of the cable 20 evolving on the winding portion of the drum 41 associated between two extreme positions delimited by the flanges. The average distance D40 measured between the two drums 41 of the same winding set 40 is taken between the centers of each of the two drums, that is to say at an average position taken between the two flanges and central at the level of its axis of rotation.

[0087] An average distance D40 measured between the two drums 41 of the same winding set 40 equal to the distance D2 separating the bonds 32 second ends 212 strands 21 of cables 20 of the pair 20' of cables 20 associated, facilitates the passage of the cable 20 associated in the return pulley 32. For this reason, the drums 41 can be moved along the axis A engine transmission to fine-tune the position of the drums 41 and allow fine adjustment of the average distance D40 as well as their position substantially above the connection 32 corresponding.

[0088] In this case, we will preferably choose values ​​of D1, D2, d1', d2', d1" And d2" so that: the vertical shift d2" second ends212 strands 21 of cables 20 of a pair 20' cable data 20 and the vertical shift d1" of the first ends of the strands 21 of cables 20 of the pair 20' of cables 20 associated vary relative to each other by a value less than or equal to 10%; and / or the horizontal shift d2' second ends 212 strands 21 of cables 20 of a pair 20' cable data 20 and the horizontal shift d1' of the first ends of the strands 21 of cables 20 of the pair 20' of cables 20 associated vary relative to each other by a value less than or equal to 10%; and / or the distance D1 separating the first ends of the strands 21 of cables 20 of a pair 20' of cables 20 data and distance D2between the links 32 second ends 212 strands 21 of cables 20 of the pair 20' of cables 20 associated are equal;

[0089] Furthermore, the parallel cable robot 1 includes a control assembly (not shown) to control the winding assemblies 40 of the mobile platform 10 and control the movement of the mobile platform 10 in an operational mode of operation.

[0090] In order to protect the inspected part 200, the environment or people nearby, it is imperative to ensure that, when a cable breaks 20, the platform 10 does not move uncontrollably, or even does not move at all, or to prevent the movements caused by the breakage from approaching the devices embedded in the platform 10mobile elements located in the environment, in particular the room 200 under inspection.

[0091] To address this issue, the parallel cable robot 1 includes means for detecting cable breakage 20, related to the control means. The control means are configured to control the winding assemblies 40 in a degraded mode different from the operational operating mode when the detection means detect the breakage of at least one of the cables 20.

[0092] One possible embodiment of the detection means is to configure the cables 20 so that they are electrically conductive, the cables 20 each comprising at least one conductive component, in particular a metallic component, which extends in a longitudinal direction of the cable 20,for example a metallic coating and / or at least one metallic wire in a structure of the cable 20. The detection means are electrically connected to the conductive component and preferably comprise in this case at least one electrical circuit 50 intended to cause a current, such as direct current, alternating current, or pulse current, to flow through the metallic component of each cable 20. An example of such an electrical circuit 50 is illustrated on the figure 11 ([Fig.11 ]).

[0093] As illustrated in this figure 11 ([Fig.11 ]), the conductive component of each of the cables 20 has a first end 501 connected to the detection means and a second end 502 connected to the detection means, and forms a conductive loop 51 between the first end 501 and the second end 502, the conductive loop 51extending in the longitudinal direction of the cable 20.

[0094] The electrical circuit 50 for the detection of a cable break 20 based on a loop sensor is described here. The conductive loop 51 detection means is composed of a length of thin enameled copper wire, which connects two entry points 501, 502 of the electrical circuit 50, the length of the wire being adapted to the length of the cables 20. When the conductive loop 51 is open, the electrical circuit 50 triggers at least one electrical / electronic signal. In particular here, the electrical circuit 50 triggers both an electrical / electronic warning device BZ1 active to produce an audio alert signal and a signal transmitted to the control means 60. The audio signal allows a potential operator to be alerted to the part's inspection area. 200inspected. The electrical circuit 50 is powered here by a 12 volt DC power supply.

[0095] When the conductive loop 51 is closed, the anode of the diode D1 is at ground level and the transistor T1 is blocked. When the conductive loop opens, the capacitor C1 is quickly charged via the resistance R1 and the diode D1, which makes the transistor T1 mosfet type becomes conductive, so that the alarm BZ1 activates and the control means 60 detect cable breakage 20. When the conductive loop 51 is closed, the initial condition is maintained by putting the anode of D1 to ground which stops the charge of C1. However, C1 is discharged quite slowly via the resistance R2, so that T1is not blocked immediately. This ensures that the alarm remains active and then slowly turns off. This delay can be changed by varying the value of the R1, R2 And C1. Optionally, the audible signal can also be stopped by a stop button (not shown) that can be operated by an operator located in the inspection area. The transistor T1 can be any type of channel power mosfet n, able to manage the chosen siren.

[0096] When a break is detected by the detection means, the information is transmitted to the control means in order to control the winding assemblies 40 in a degraded mode. Control of the winding assemblies 40 varies depending on several parameters such as the known position data of the part 200during the inspection, either theoretical, for example from a model of the part pre-recorded in a memory of the control means, or practical depending on one or more sensors, and / or the position of the platform 10 mobile before the cable breaks 20, for example thanks to position sensors embedded on the platform 10 or external to the platform 10 ; and / or platform behavior 10 mobile before the cable breaks 20, for example an evolution of different positions of the platform during a predetermined period, for example a few seconds, in order to estimate a future position of the platform 10 mobile after cable break 20 ; and / or identification data of the broken cable(s) among the different cables 20 equipping the parallel cable robot 1.

[0097] In this way, the control means are operational to, in degraded mode, control the winding assemblies 40 taking into account these parameters, in order to move the platform following a maneuver to avoid the part 200 inspected so that the platform evolves, despite the cable break 20 detected, following an avoidance trajectory of said part 200. Such maneuvers are described below with particular reference to figures 14 et 15 .

[0098] As illustrated on the figure 12 ([Fig.12 ]), the cables 20 may have an elastic core 26 so as to keep two joint ends linked together 20A, 20B of a portion of cable 20 at least partially broken. Such a solution makes it possible to limit the risks when the cables break 20, the elastic soul 26not having any particular tensile strength properties but simply allowing the two joint ends to be kept connected 20A, 20B cable 20 broken, but in a relaxed manner, after the cable section broke 20. Such a solution is particularly simple to implement and provides additional security avoiding the risk that one of the two joined ends 20A, 20B cable 20 broken falls back by gravity through the action of its own weight and comes to strike, if necessary, the part 200 inspected which could be located below.

[0099] The elastic soul 26 is surrounded by an outer envelope 27 which may consist, for example, of strands. Such strands are generally composed of an assembly of textile or metal wires wound in a helix around a longitudinal axis of the cable 20.The strands, or at least two of the wires in the strands, are metallic to form the conductive loop 51. Alternatively or in addition, in the cable structure 20, one of the strands may be substituted for an elastic element, such as an elastic wire or cord, configured to hold two joined ends together 20A, 20B of a portion of cable 20 at least partly broken, without it being the soul 26 cable 20.

[0100] There figure 13 ([Fig.13 ]) illustrates a view of an installation 100 comprising a parallel cable robot 1 according to another embodiment of the invention. This embodiment differs essentially from the embodiment illustrated in the preceding views in that the cables 20 of each pair 20' of cables 20are connected to each other generally transversely to their direction when they are stretched, by recall cables 25. In particular, each of the strands 21 of cables of the same pair 20' of cables 20 are connected to each other by the recall cables 25, at least on a portion of securing the strands 21 of given cables of the pair 20' of cables 20. This safety portion extends over a certain distance, called the safety distance. Ds and is preferably located in an area near the first ends 211 strands 21 cables 20 of the pair 20' of cables 20 associated.

[0101] This securing distance must be strictly less than the length of the strands 21 of cables 20 so as to ensure freedom of movement for the platform 10mobile. Thus a distance Ds maximum of the portion equipped with recall cables 25 is limited by a minimum value of the cables 20 without reminder cables 25, this minimum value being a limit to the working volume of the parallel cable robot 1 : The smaller this minimum value, the smaller the working volume. The safety distance Ds results from a compromise that can be determined on a case-by-case basis so as not to harm the work volume of the parallel cable robot 1.

[0102] It will be noted that in this embodiment, the strand 21 cable 20 illustrated which is sectioned has two joined ends 20A, 20B which are not held together by an elastic element such as an elastic core 26.In another embodiment, it is possible to envisage combining these characteristics in order to further limit, or even eliminate, the risk that a cable could collide with the part. 200 inspected. The two ends joined 20A, 20B illustrated on the figure 13 would then be connected by this elastic element, for example an elastic core 26.

[0103] There figure 14 ([Fig.14 ]) illustrates a view of a platform 10 during a part inspection 200 and in a position of breaking of one of the strands 21 cable 20. In particular, the figure 14 ([Fig.14 ]) illustrates a situation during a sequence of implementation of a method for securing the parallel cable robot 1 when a cable breaks 20. Thus, the detection of the cable break triggers a strategy of moving the part away 200inspected. The security process includes at least the following steps: a cable break detection step 20 by means of cable break detection 20 ; and a step of switching the control assembly from an operational operating mode to a degraded operating mode when the detection means detect the breakage of a cable 20.

[0104] This switching mode has the effect of being able to implement a degraded mode including in particular a movement of the platform 10 along a trajectory away from or away from a part 200 to be inspected. Thus in degraded mode, the control assembly can control the winding assemblies 40 to move the platform 10 following a part avoidance maneuver 200 inspected so that the platform 10evolves, despite the cable break 20 detected, following a deviated trajectory to avoid any risk of collision with the part 200.

[0105] According to the illustrated method, the degraded operating mode includes a first step of calculating a separation distance del, configured to calculate a separation distance del between the platform 10 and the room 200 inspected. A second calculation step is then implemented to calculate a displacement of the platform 10 following a trajectory oriented in an opposite direction so as to increase the distance separating the platform from the part 200 inspected against the standoff distance del, for example for the calculation of the first movement of the platform 10 according to the first trajectory. Then a step of moving the platform 10is implemented by the control assembly to control the winding assemblies 40 so as to move the platform 10 following the displacement calculated in the second previous calculation step.

[0106] The distance of removal del calculated has the form of a vector where the following information is calculated: the standard or module which corresponds to the length of the vector and therefore the numerical value of the distance measurement; the direction of the vector which is carried by an axis; and the direction of the vector, which allows the orientation of the platform to be determined 10 relative to the room 200 inspected.

[0107] Once the distance vector of removal del calculated, the step of calculating the platform displacement 10aims to calculate a trajectory oriented in a direction opposite to the aforementioned vector, so as to increase the modulus of the distance vector del separating the platform from the room 200 inspected against the standoff distance del. To implement the platform moving step 10, the control unit drives the winding assemblies 40 so as to move the platform 10 following the displacement calculated by applying a displacement initiated by the application of a velocity vector V. This movement, in particular the application of this speed V, is implemented during a predetermined time interval, necessary to reduce the risk.

[0108] Other avoidance sequences are of course possible to implement. For example, the degraded operating mode can include the following steps: a step of estimating an inclined position of the platform 10 after the break; a step of calculating a separation distance del, configured to calculate a separation distance del between the platform 10 and a room 200 inspected in the estimated inclined position; and a step of calculating a displacement of the platform 10 following a trajectory oriented in an opposite direction so as to increase the separation distance del separating the platform 10 of the room 200 inspected against the standoff distance

[0109] This sequence differs essentially from the avoidance maneuver described above in that an estimated final inclined position of the platform is taken into account depending on the broken cable.

[0110] The control assembly then drives the winding assemblies 40 so as to move the platform10 following the displacement calculated by applying a displacement initiated by the application of a velocity vector V.

[0111] There figure 15 ([Fig.15 ]) illustrates a view of a platform 10 during a part inspection 200 and in a position of breaking of one of the strands 21 cable 20. In particular, the figure 14 ([Fig.14 ]) illustrates a situation during a sequence of implementation of another method for securing the parallel cable robot 1 when a cable breaks 20. According to this process, the degraded operating mode includes: a step of calculating a first movement of the platform according to a first trajectory configured to move the platform away 10 of the room 200 to be inspected; a step of calculating a second movement of the platform along a second trajectory intended to bring the platform back 10in a previous position detected by detection means, before rupture.

[0112] The platform moving stage 10 including a step of application to the platform 10 of a movement along an average trajectory of removal or avoidance corresponding to the weighted sum of the first and second trajectories.

[0113] The first movement is materialized on this figure 15 ([Fig.15 ]) by a velocity vector V1 of a certain module, in a certain direction and in a certain sense. The second displacement is also materialized on this figure 15 ([Fig.15 ]) by a velocity vector V2. The calculated displacements here are speeds applied to the platform 10, once a cable break is detected 20 and the calculations carried out.

[0114] By applying a weighted sum of these two displacements V1, V2 to move the platform 10,the result allows to reduce the platform path 10 and the oscillations are made while moving the platform away 10 of the room 200 inspected.

[0115] In the case where the distance to the environment is not known or calculable, that is to say that the step of calculating a first displacement of the platform 10 according to a first trajectory to move the platform away 10 of the room 200 to be inspected cannot be finalized, only the step of calculating a second displacement V2 of the platform 10 can be implemented. In this case, we use the displacement V2 allowing the platform 10 to end up approximately in the position before the break.

[0116] It should be noted that the step of calculating a first movement of the platform according to a first trajectory configured to move the platform away 10 of the room200 to be inspected can be implemented by the degraded operating modes as described with reference to the figures 14 . The same calculation steps can indeed be implemented.

[0117] The innovation described therefore meets both an objective of strong reduction (not cancellation) of the oscillations of the platform 10 (in order to stabilize it as much as possible during the inspection process), and for safety reasons, because in the event of a cable breaking 20, the presence of the second cable in the parallelogram formed for a pair 20' of cables 20 given and which is connected to the same set of windings 40 as well as the integrity of three other parallelograms formed by the other pairs 20' of cables 20 among the pairs 20' of cables 20 of the parallel cable robot 1 prevent any movement (translation / rotation).

[0118] Furthermore, the control means can actively participate in detecting any cable breakage. 20 and implement a suitable security process to further improve security.

[0119] Naturally, the invention is described in the foregoing by way of example. It is understood that a person skilled in the art is able to carry out different variant embodiments of the invention without departing from the scope of the invention, as defined by the following claims.

[0120] In particular, the description focuses on describing the characteristics for a given cable pair. Of course, an advantageous configuration is that the configurations of the first and second ends, such as their vertical and horizontal offsets, are similar for each of the cable pairs.

Claims

1. An installation (100) comprising: - a cable-driven parallel robot (1) comprising: - a movable platform (10) intended to be suspended by cables (20), each of the cables (20) having a cable strand (21) configured to be tensioned between a first strand (21) end (211) connected to the movable platform (10), and a second strand (21) end (212) connected to a structure (30) fixed in space; - winding assemblies (40), each winding assembly (40) being connected to a pair (20') of associated cables (20) among the cables (20) and configured to synchronously wind the pair (20') of associated cables (20), each winding assembly (40) comprising two drums (41), each of the drums (41) being secured to one of the cables (20) among the cables (20) of an associated pair (20') of cables (20) and being configured to wind the associated cable (20), each winding assembly being driven by a single motor to motorise a common rotation shaft (42) carrying the two drums (41) of a given pair (20') of cables (20); and - a fixed structure (30) from which the platform (10) is suspended, the fixed structure (30) comprises a plurality of suspension structures (31), each of the suspension structures (31) being configured to comprise a connection (32) with each of the second ends (212) of the cable (20) strands (21) of a given pair (20') of cables (20); the installation (100) being configured so that when the movable platform (10) is in a reference orientation relative to the vertical (Z), the first ends (211) of the cable (20) strands (21) of a same pair (20') of cables (20) are offset vertically (d1") from each other and are offset horizontally (d1') from each other, and so that the distance (D2) between the connections (32) of the second ends (212) of the cable (20) strands (21) of a given pair (20') of cables (20) are separated from each other by a distance (D2) equal to the distance (D1) separating the first strand (21) ends of the cables (20) from the pair (20') of associated cables (20) so that in a suspended position of the movable platform (10), the cable (20) strands (21) of a given pair (20') of cables (20) are parallel.

2. The installation (100) according to claim 1, characterized in that the first end (211) of each cable (20) strand (21) is attached to the platform (10) at an anchoring point (11).

3. The installation (100) according to claim 1 or 2, characterized in that the second end (212) of each cable (20) strand (21) is configured to be tensioned on a return member between the associated cable strand (21) and the associated winding assembly (40).

4. The installation (100) according to any one of the preceding claims, characterized in that the vertical offset (d1") and the horizontal offset (d1') of the first ends (211) of the cable (20) strands (21) of a pair (20') of given cables (20) are equal.

5. The installation (100) according to any of the preceding claims, characterized in that the platform (10) has a suspension frame (12) having a shape that is parallelepiped, preferably rectangular parallelepiped, preferably still cubic.

6. The installation (100) according to claim 5, characterized in that the first ends (211) of the cable (20) strands (21) of a pair (20') of given cables (20) are arranged on the platform (10) at the ends of a diagonal of a lateral face of the suspension frame (12).

7. The installation (100) according to any one of the preceding claims, characterized in that the two drums (41) of a same winding assembly (40) are separated from each other by an average distance (D40) substantially equal to the distance (D1) separating the first ends (211) of the cable (20) strands (21) of the associated pair (20') of cables (20).

8. The installation (100) according to any of the preceding claims, characterized in that the number of pairs (20') of cables (20) is greater than or equal to 3, preferably greater than or equal to 4 and / or less than or equal to 10, preferably less than or equal to 8, more preferably less than or equal to 6.

9. The installation (100) according to any of the preceding claims, characterized in that each of the connections (32) comprises a cable (20) return member for each of the cables (20) of the given pair (20') of cables (20), the second end (212) of each cable (20) strand (21) of the given pair (20') of cables (20) being configured to be tensioned on the associated return member, between the associated cable strand (21) and the associated winding assembly (40).

10. The installation (100) according to any one of the preceding claims, characterized in that, in a suspended position of the movable platform (10), each cable (20) of the cable-driven parallel robot (1) comprises a secondary cable strand (22) configured to be tensioned between the second end (212) of the strand (21) of the associated cable (20) and a third end (223) of the secondary strand (22) connected to the structure (30) fixed in space, the strands (22) of secondary cables (20) of a given pair (20') of cables (20) preferably being substantially parallel.

11. The installation (100) according to claim 10, characterized in that the strands (22) of secondary cables (20) of a given pair (20') of cables (20) are substantially parallel and the two drums (41) of each winding assembly (40) are located plumb with the corresponding connection (32), the two drums (41) of a same winding assembly being distant from each other by an average distance (D40) substantially equal to an horizontal offset (d2') of the second ends (212) of the strands (21) of cables (20) of the associated pair (20') of cables (20).

12. The installation (100) according to any one of the preceding claims, characterized in that in a suspended position of the movable platform (10), the second ends of the strands (21) of cables (20) of the given pair (20') of cables (20) are offset vertically (d2") from each other and are shifted horizontally (d2') from each other, the vertical offset (d2") and the horizontal offset (d2') of the second strand (21) ends (211) of the cables (20) of a given pair (20') of cables (20) being preferably equal.

13. The installation (100) according to any one of the preceding claims, characterized in that at least one of the second ends (212) of the strands (21) of cables (20) of a given pair (20') of cables (20) is connected to the fixed structure (30) by at least one damping mechanism (33), preferably each of the second strand (21) ends (212) of the cables (20) of the given pair (20') of cables (20) is connected to the fixed structure (30) by at least one damping mechanism (33).

14. The installation (100) according to any one of the preceding claims, characterized in that the winding assemblies (40) are located each in the vicinity of the floor (S) on which the fixed structure (30) rests.

15. The installation (100) according to any one of the preceding claims claims, characterized in that the fixed structure (30) comprises removable masts (35) configured to be vertically upright in the deployed position, and preferably each supporting at least one of the suspension structures (31).